四元数体上矩阵的广义对角化

引入了复四元数环和四元数体上矩阵可 对角化的概念,研究了复四元数环上矩阵的性质,给出了四元数体上矩阵可 对角化的充分必要条件和求矩阵 对角化的方法。     

四元数的复数形式及其在6R机器人反解中的应用

把四元数应用于平面旋转的特殊情况,并把旋转角度的正弦、余弦改写为复指数形式,导出平面四元数的两个复数形式的基.利用这两个基可以把表示三维变换的四元数和对偶四元数改造为复数形式,得到复数形式四元数的4个基和复数形式对偶四元数的8个基,以及它们之间乘法运算的运算法则.通过把它们应用到空间$6R$机器人的位移反解问题,证明了Dixon结式展开后的次数为16次,而不是形式上的24次,并且得到单变量的16次方程.     

四元数体上的Vandermonde重行列式

讨论了四元数体上的 Ｖａｎｄｅｒｍｏｎｄｅ 重行列式问题,给出了 Ｖａｎｄｅｒｍｏｎｄｅ 重行列式不为零的充分必要条件·     

四元数积的弱可交换性及其一个应用

用向量表示四元数.得到四元数乘积的一个弱可交换律,并利用它将四元数体上线性矩阵方程转化为数域上的线性方程组,给出此类方程的一般解法.     

内无叶的可平面近四角化计数（英文）

所有悬挂点都在根面边界的可平面近四角化称为内无叶的.本文研究了内无叶的可平面近四角化的计数并给出了以其根面次、非根点数和内面数为三个参数的一些计数公式.     

一类四元数小波包的构造

实值二维信号可以用四元数来表示,因此,四元数的尺度函数和小波的构造就成为分析二维信号的关键．引入了四元数小波包的概念,并且借助于四元数多分辨分析和四元数尺度函数和四元数小波函数的概念和若干公式,给出并构造了一类四元数正交小波包的构造方法,得到了四元数正交小波包的3个正交性公式,最后,利用四元数正交小波包给出了L^2（R...     

四元数辛李代数MAD子代数的共轭性

利用四元数理论,证明了四元数体上辛李代数为实半单李代数,其极大可交换ad-可对角化(简称MAD)子代数是相互共轭的.     

四元数矩阵的极分解及其GL偏序

本文给出了四元数矩阵的唯一极分解定理和两个四元数矩阵可同时极分解的两种刻画；进而引进了四元数矩阵的GL偏序的概念，它是重要的Lǒwner偏序的一般化，并得到这个新偏序的6种刻画．     

四元数自共轭矩阵乘积的相似变换

本文证明了下列结果:(i)四元数矩阵A可写成两个自共轭四元数矩阵的乘积A相似于实矩阵A Hermite相似于A~*.(ii)A可写成一个半正定自共轭四元数矩阵与一个自共轭四元数矩阵的乘积A相似于实对角矩阵或者A～diag(D,I_r(×)J_2(O)),其中D是一个实对角矩阵.本文还给出了体上实矩阵AB与BA相似的一个充要条件.     

四元数矩阵的实表示与四元数矩阵方程

四元数矩阵与四元数矩阵方程在力学和工程问题的理论研究和实际数值计算中都起到重要的作用.该文借助四元数矩阵的实表示方法,研究了一般四元数矩阵方程AXB-CYD=E的解的问题,给出了一种求解四元数矩阵方程的算法技巧.该文还得到了四元数矩阵的Roth's定理.     

Geometry of Planes over Nonassociative Algebras

In this paper the geometric interpretation of the exceptional Lie groups F₄, E₆, E₇, and E₈ is given. These groups are groups of motions of elliptic hyperbolic planes over nonassociative algebras of octaves and split octaves and their tensor products with algebras of usual and split complex numbers, quaternions and octaves. The explicit expressions of motions of these planes and their figures of symmetry are presented.     

Global chaos in a periodically forced, linear system with a dead-zone restoring force

The Poincare mapping and the corresponding mapping sections for global motions in a linear system possessing a dead-zone restoring force are introduced through switching planes pertaining to two constraints. The global periodic motions based on the Poincare mapping are determined, and the eigenvalue analysis for the stability and bifurcation of periodic motion is carried out. Global chaos in such a system is investigated numerically from the unstable global periodic motions analytically determined. The bifurcation scenario with varying parameters is presented. The mapping structures of periodic and chaotic motions are discussed. The Poincare mapping sections for global chaos are given for illustration. The grazing phenomenon embedded in chaotic motion is observed in this investigation.     

Periodic motions in a simplified brake system with a periodic excitation

In this paper, periodic motions for a simplified brake system under a periodical excitation are investigated, and the motion switchability on the discontinuous boundary is discussed through the theory of discontinuous dynamical systems. The onset and vanishing of periodic motions are discussed through the bifurcation and grazing analyses. Based on the discontinuous boundary, the switching planes and the basic mappings are introduced, and the mapping structures for periodic motions are developed. From the mapping structures, the periodic motions are analytically predicted and the corresponding local stability and bifurcation analysis is completed. Periodic motions will be illustrated for verification of analytical predictions. In addition, the relative force distributions along the displacement are illustrated for illustrations of the analytical conditions of motion switchability on the discontinuous boundary.     

Discontinuous dynamics of a non-linear, self-excited, friction-induced, periodically forced oscillator

The discontinuous dynamics of a non-linear, friction-induced, periodically forced oscillator is studied. The analytical conditions for motion switchability at the velocity boundary in such a nonlinear oscillator are developed to understand the motion switching mechanism. Using such analytical conditions of motion switching, numerical predictions of the switching scenarios varying with excitation frequency and amplitude are carried out, and the parameter maps for specific periodic motions are presented. Chaotic and periodic motions are illustrated through phase planes and switching sections for a better understanding of motion mechanism of the nonlinear friction oscillator. The periodic motions with switching in such a nonlinear, frictional oscillator cannot be obtained from the traditional analysis (e.g., perturbation and harmonic balance method).     

Bifurcation and chaos in escape equation model by incremental harmonic balancing

Periodic motions of the nonlinear system representing the escape equation with cosine and sine parametric excitations and external harmonic excitations are obtained by the incremental harmonic balance (IHB) method. The system contains quadratic stiffness terms. The Jacobian matrix and the residue vector for the type of nonlinearity with parametric excitation are explicitly derived. An arc length path following procedure is used in combination with Floquet theory to trace the response diagram and to investigate the stability of the periodic solutions. The system undergoes chaotic motion for increase in the amplitude of the harmonic excitation which is investigated by numerical integration and represented in terms of phase planes, Poincaré sections and Lyapunov exponents. The interpolated cell mapping (ICM) method is used to obtain the initial condition map corresponding to two coexisting period 1 motions. The periodic motions and bifurcation points obtained by the IHB method compare very well with results of numerical integration.     

A simple autonomous quasiperiodic self-oscillator

In this note a simple example of an autonomous three-dimensional system is considered demonstrating quasiperiodic dynamics because of presence of two coexisting oscillatory components of independently controlling and, hence, generally incommensurate frequencies. Attractor in such a regime is a two-dimensional torus. Numerical illustrations of the stable quasiperiodic motions are presented. Some essential features of the dynamical behavior are revealed; in particular, charts of dynamical regimes on parameter planes are considered and discussed.     

Über drei zwangläufig gegeneinander bewegte Cayley/Klein-Ebenen

If three Euclidean planes move relatively to each other, the three poles of rotation are either identical or pairwise distinct and collinear. In the second case the distances of the poles are in the ratio of the motions' angular velocities. These known facts of Euclidean kinematics can be generalized in a largely uniform way to plane Cayley/Klein motions with finite poles. For the angular velocities we give a representation which is valid for all considered Cayley/Klein motions. Application of the duality principle of the projective plane yields a proposition about concurrent fixed lines. We also generalize the generation of a pair of envelope curves of a Euclidean motion as paths of a point of a third moved plane.

     

The Construction of 3D Conformal Motions

This paper exposes a very geometrical yet directly computational way of working with conformal motions in 3D. With the increased relevance of conformal structures in architectural geometry, and their traditional use in CAD, its results should be useful to designers and programmers. In brief, we exploit the fact that any 3D conformal motion is governed by two well-chosen point pairs: the motion is composed of (or decomposed into) two specific orthogonal circular motions in planes determined by those point pairs. The resulting orbit of a point is an equiangular spiral on a Dupin cyclide. These results are compactly expressed and programmed using conformal geometric algebra (CGA), and this paper can serve as an introduction to its usefulness. Although the point pairs come in different kinds (imaginary, real, tangent vector, direction vector, axis vector and ‘flat point’), causing the great variety of conformal motions, all are unified both algebraically and computationally as 2-blades in CGA, automatically producing properly parametrized simple rotors by exponentiation. An additional advantage of using CGA is its covariance: conformal motions for other primitives such as circles are computed using exactly the same formulas, and hence the same software operations, as motions of points. This generates an interesting class of easily generated shapes, like spatial circles moving conformally along a knot on a Dupin cyclide.     

Verallgemeinerung des Wendekreises der Ebenen Euklidischen Kinematik auf Cayley/Klein-Zwangläufe 1. Art

In [12] the local kinematics of all seven Cayley/Klein-planes (CK-planes) was developed in a largely uniform way. The motions of Euclidean, pseudo-Euclidean, elliptic and hyperbolic planes were called CK-motions of 1^st kind. They are fundamentally different from quasielliptic, quasihyperbolic and isotropic motions (CK motions of 2^nd kind). In this paper we consider a uniform generalization of the inflection circle of plane Euclidean kinematics to CK-motions of 1^st kind, which turns out to be a curve of 2^nd order. It can be shown that many important properties of the Euclidean inflection circle are retained. We also generalize the Euclidean cuspidal circle, inflection point and cuspidal point.

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Herrn Prof. Dr.Oswald Giering zum 60. Geburtstag gewidmet     

Continuation of periodic motions of a reversible system in non-structurally stable cases. Application to the N-planet problem

The problem of continuing symmetric periodic solutions of an autonomous or periodic system with respect to a parameter is solved. Non-structurally stable cases, when the generating system does not guarantee that the solution can be continued, are considered. Three approaches are proposed to solving the problem: (a) particular consideration of terms that depend on the small parameter and the selection of generating solutions; (b) the selection of a generating system depending on the small parameter; (c) reduction to a quasi-linear system which is then analysed using the first approach. Within the framework of the third approach the existence of a periodic motion is also established that differs from the generating one by a quantity whose order is a fractional power of the small parameter. The theoretical results are used to prove the existence of two families of periodic three-dimensional orbits in the N-planet problem. The orbit of each planet is nearly elliptical and situated in the neighbourhood of its fixed plane; the angle between the planes is arbitrary. The average motions of the planets in these orbits relate to one another as natural numbers (the resonance property), and at instants of time that are multiples of the half-period the planes are either aligned in a straight line—the line of nodes (the first family), or cross the same fixed plane (the second family). The phenomenon of a parade of planets is observed. The planets' directions of motion in their orbit are independent.